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<div class="title">PVT_ctrl.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024 Humanoid Robot (Shanghai) Co., Ltd, under Apache 2.0.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://gitee.com/panda_23/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;fstream&gt;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;json/json.h&quot;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;LPF_fst.h&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;data_bus.h&quot;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classPVT__Ctr.html">   22</a></span>&#160;<span class="keyword">class </span><a class="code" href="classPVT__Ctr.html">PVT_Ctr</a></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;{</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classPVT__Ctr.html#a65bea7c1cf6efd9779fafb9530542b5a">   25</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classPVT__Ctr.html#a65bea7c1cf6efd9779fafb9530542b5a">jointNum</a>;                          </div>
<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classPVT__Ctr.html#aa7ffa78b4deff2ded61d871605d04820">   26</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="classPVT__Ctr.html#aa7ffa78b4deff2ded61d871605d04820">motor_pos_cur</a>;     </div>
<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classPVT__Ctr.html#a92dc261978c8606d77f190ea395023a5">   27</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="classPVT__Ctr.html#a92dc261978c8606d77f190ea395023a5">motor_pos_des_old</a>; </div>
<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classPVT__Ctr.html#a9d77dccb170f7a4b1ecf173b91047ba4">   28</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="classPVT__Ctr.html#a9d77dccb170f7a4b1ecf173b91047ba4">motor_vel</a>;         </div>
<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classPVT__Ctr.html#af96ebbc7d163601d831ca6fbdec2f8a1">   29</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="classPVT__Ctr.html#af96ebbc7d163601d831ca6fbdec2f8a1">motor_tor_out</a>;     </div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <a class="code" href="classPVT__Ctr.html#a471dd413e1e95bbe91e218e1ea611a6f">PVT_Ctr</a>(<span class="keywordtype">double</span> timeStepIn, <span class="keyword">const</span> <span class="keywordtype">char</span> *jsonPath);</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPVT__Ctr.html#a59c9680162b5ef4bd67553b4eadcd5de">calMotorsPVT</a>();</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPVT__Ctr.html#a59c9680162b5ef4bd67553b4eadcd5de">calMotorsPVT</a>(<span class="keywordtype">double</span> deltaP_Lim);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPVT__Ctr.html#a29f1c739eec92db4f83ba0a1fdb53367">enablePV</a>();</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPVT__Ctr.html#ae17e60bb77cff1eee387ba7681f552d0">disablePV</a>();</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPVT__Ctr.html#a29f1c739eec92db4f83ba0a1fdb53367">enablePV</a>(<span class="keywordtype">int</span> jtId);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPVT__Ctr.html#ae17e60bb77cff1eee387ba7681f552d0">disablePV</a>(<span class="keywordtype">int</span> jtId);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPVT__Ctr.html#a9043bcd372772fda34a4a3d8b6ff96ee">setJointPD</a>(<span class="keywordtype">double</span> kp, <span class="keywordtype">double</span> kd, <span class="keyword">const</span> <span class="keywordtype">char</span> *jointName);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPVT__Ctr.html#a596b859183cef9466234053260d05185">dataBusRead</a>(<a class="code" href="structDataBus.html">DataBus</a> &amp;busIn);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPVT__Ctr.html#a50946a0747c3b2c5a44693e0efa07b83">dataBusWrite</a>(<a class="code" href="structDataBus.html">DataBus</a> &amp;busIn);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classPVT__Ctr.html#a86bed2b218438e82e07858019af6eb12">   93</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="classPVT__Ctr.html#a86bed2b218438e82e07858019af6eb12">motor_pos_des</a>; </div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classPVT__Ctr.html#a5624aa8616b716c07dbd15ccb97f81df">   94</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="classPVT__Ctr.html#a5624aa8616b716c07dbd15ccb97f81df">motor_vel_des</a>; </div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classPVT__Ctr.html#acbd741b868f4b6c28b8968bee46ca65c">   95</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="classPVT__Ctr.html#acbd741b868f4b6c28b8968bee46ca65c">motor_tor_des</a>; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classPVT__Ctr.html#a087f2c0d307a08d0ca7a535e8d72e2df">   97</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="classPVT__Ctr.html#a087f2c0d307a08d0ca7a535e8d72e2df">pvt_Kp</a>; </div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classPVT__Ctr.html#a94d3bed472c408dcf2f5f63d63f04ba3">   98</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="classPVT__Ctr.html#a94d3bed472c408dcf2f5f63d63f04ba3">pvt_Kd</a>; </div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classPVT__Ctr.html#aa4041b56d20aeec8f7f4a07694530272">   99</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="classPVT__Ctr.html#aa4041b56d20aeec8f7f4a07694530272">maxTor</a>; </div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classPVT__Ctr.html#afb0b7dccfc83f7595d2f382b11b32b18">  100</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="classPVT__Ctr.html#afb0b7dccfc83f7595d2f382b11b32b18">maxVel</a>; </div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classPVT__Ctr.html#acab0c63a484d70566ce74898da9a1fb8">  101</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="classPVT__Ctr.html#acab0c63a484d70566ce74898da9a1fb8">maxPos</a>; </div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classPVT__Ctr.html#ada55b04b5f69ea0e0a69d9fdb45fe853">  102</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="classPVT__Ctr.html#ada55b04b5f69ea0e0a69d9fdb45fe853">minPos</a>; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    std::vector&lt;LPF_Fst&gt; tau_out_lpf; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    std::vector&lt;int&gt; PV_enable;       </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keywordtype">double</span> sign(<span class="keywordtype">double</span> in);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="keyword">const</span> std::vector&lt;std::string&gt; motorName = {<span class="stringliteral">&quot;J_arm_l_01&quot;</span>, <span class="stringliteral">&quot;J_arm_l_02&quot;</span>, <span class="stringliteral">&quot;J_arm_l_03&quot;</span>, <span class="stringliteral">&quot;J_arm_l_04&quot;</span>, <span class="stringliteral">&quot;J_arm_l_05&quot;</span>,</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                                                <span class="stringliteral">&quot;J_arm_l_06&quot;</span>, <span class="stringliteral">&quot;J_arm_l_07&quot;</span>, <span class="stringliteral">&quot;J_arm_r_01&quot;</span>, <span class="stringliteral">&quot;J_arm_r_02&quot;</span>, <span class="stringliteral">&quot;J_arm_r_03&quot;</span>,</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;                                                <span class="stringliteral">&quot;J_arm_r_04&quot;</span>, <span class="stringliteral">&quot;J_arm_r_05&quot;</span>, <span class="stringliteral">&quot;J_arm_r_06&quot;</span>, <span class="stringliteral">&quot;J_arm_r_07&quot;</span>,</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;                                                <span class="stringliteral">&quot;J_head_yaw&quot;</span>, <span class="stringliteral">&quot;J_head_pitch&quot;</span>, <span class="stringliteral">&quot;J_waist_pitch&quot;</span>, <span class="stringliteral">&quot;J_waist_roll&quot;</span>, <span class="stringliteral">&quot;J_waist_yaw&quot;</span>,</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;                                                <span class="stringliteral">&quot;J_hip_l_roll&quot;</span>, <span class="stringliteral">&quot;J_hip_l_yaw&quot;</span>, <span class="stringliteral">&quot;J_hip_l_pitch&quot;</span>, <span class="stringliteral">&quot;J_knee_l_pitch&quot;</span>,</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                                                <span class="stringliteral">&quot;J_ankle_l_pitch&quot;</span>, <span class="stringliteral">&quot;J_ankle_l_roll&quot;</span>, <span class="stringliteral">&quot;J_hip_r_roll&quot;</span>, <span class="stringliteral">&quot;J_hip_r_yaw&quot;</span>,</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                                                <span class="stringliteral">&quot;J_hip_r_pitch&quot;</span>, <span class="stringliteral">&quot;J_knee_r_pitch&quot;</span>, <span class="stringliteral">&quot;J_ankle_r_pitch&quot;</span>, <span class="stringliteral">&quot;J_ankle_r_roll&quot;</span>}; <span class="comment">// joint name in urdf and jason config files</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;};</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassPVT__Ctr_html_a86bed2b218438e82e07858019af6eb12"><div class="ttname"><a href="classPVT__Ctr.html#a86bed2b218438e82e07858019af6eb12">PVT_Ctr::motor_pos_des</a></div><div class="ttdeci">std::vector&lt; double &gt; motor_pos_des</div><div class="ttdoc">all desired motors position</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8h_source.html#l00093">PVT_ctrl.h:93</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html_afb0b7dccfc83f7595d2f382b11b32b18"><div class="ttname"><a href="classPVT__Ctr.html#afb0b7dccfc83f7595d2f382b11b32b18">PVT_Ctr::maxVel</a></div><div class="ttdeci">std::vector&lt; double &gt; maxVel</div><div class="ttdoc">max velocity limit of the motors</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8h_source.html#l00100">PVT_ctrl.h:100</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html_a59c9680162b5ef4bd67553b4eadcd5de"><div class="ttname"><a href="classPVT__Ctr.html#a59c9680162b5ef4bd67553b4eadcd5de">PVT_Ctr::calMotorsPVT</a></div><div class="ttdeci">void calMotorsPVT()</div><div class="ttdoc">calculate the motors torque</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8cpp_source.html#l00076">PVT_ctrl.cpp:76</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html_a50946a0747c3b2c5a44693e0efa07b83"><div class="ttname"><a href="classPVT__Ctr.html#a50946a0747c3b2c5a44693e0efa07b83">PVT_Ctr::dataBusWrite</a></div><div class="ttdeci">void dataBusWrite(DataBus &amp;busIn)</div><div class="ttdoc">write the updated data to databus</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8cpp_source.html#l00057">PVT_ctrl.cpp:57</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html_a087f2c0d307a08d0ca7a535e8d72e2df"><div class="ttname"><a href="classPVT__Ctr.html#a087f2c0d307a08d0ca7a535e8d72e2df">PVT_Ctr::pvt_Kp</a></div><div class="ttdeci">std::vector&lt; double &gt; pvt_Kp</div><div class="ttdoc">kp gains of the motors</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8h_source.html#l00097">PVT_ctrl.h:97</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html_a92dc261978c8606d77f190ea395023a5"><div class="ttname"><a href="classPVT__Ctr.html#a92dc261978c8606d77f190ea395023a5">PVT_Ctr::motor_pos_des_old</a></div><div class="ttdeci">std::vector&lt; double &gt; motor_pos_des_old</div><div class="ttdoc">last all desired motors position</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8h_source.html#l00027">PVT_ctrl.h:27</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html_a94d3bed472c408dcf2f5f63d63f04ba3"><div class="ttname"><a href="classPVT__Ctr.html#a94d3bed472c408dcf2f5f63d63f04ba3">PVT_Ctr::pvt_Kd</a></div><div class="ttdeci">std::vector&lt; double &gt; pvt_Kd</div><div class="ttdoc">kd gains of the motors</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8h_source.html#l00098">PVT_ctrl.h:98</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html_aa4041b56d20aeec8f7f4a07694530272"><div class="ttname"><a href="classPVT__Ctr.html#aa4041b56d20aeec8f7f4a07694530272">PVT_Ctr::maxTor</a></div><div class="ttdeci">std::vector&lt; double &gt; maxTor</div><div class="ttdoc">max torque limit of the motors</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8h_source.html#l00099">PVT_ctrl.h:99</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html"><div class="ttname"><a href="classPVT__Ctr.html">PVT_Ctr</a></div><div class="ttdoc">This class implemented a position and velocity based low-level PD motor controller.</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8h_source.html#l00022">PVT_ctrl.h:22</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html_a471dd413e1e95bbe91e218e1ea611a6f"><div class="ttname"><a href="classPVT__Ctr.html#a471dd413e1e95bbe91e218e1ea611a6f">PVT_Ctr::PVT_Ctr</a></div><div class="ttdeci">PVT_Ctr(double timeStepIn, const char *jsonPath)</div><div class="ttdoc">Construct a new pvt ctr object.</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8cpp_source.html#l00011">PVT_ctrl.cpp:11</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html_a65bea7c1cf6efd9779fafb9530542b5a"><div class="ttname"><a href="classPVT__Ctr.html#a65bea7c1cf6efd9779fafb9530542b5a">PVT_Ctr::jointNum</a></div><div class="ttdeci">int jointNum</div><div class="ttdoc">number of joints</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8h_source.html#l00025">PVT_ctrl.h:25</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html_a5624aa8616b716c07dbd15ccb97f81df"><div class="ttname"><a href="classPVT__Ctr.html#a5624aa8616b716c07dbd15ccb97f81df">PVT_Ctr::motor_vel_des</a></div><div class="ttdeci">std::vector&lt; double &gt; motor_vel_des</div><div class="ttdoc">all desired motors velocity</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8h_source.html#l00094">PVT_ctrl.h:94</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html_acab0c63a484d70566ce74898da9a1fb8"><div class="ttname"><a href="classPVT__Ctr.html#acab0c63a484d70566ce74898da9a1fb8">PVT_Ctr::maxPos</a></div><div class="ttdeci">std::vector&lt; double &gt; maxPos</div><div class="ttdoc">max position limit of the motors</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8h_source.html#l00101">PVT_ctrl.h:101</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html_aa7ffa78b4deff2ded61d871605d04820"><div class="ttname"><a href="classPVT__Ctr.html#aa7ffa78b4deff2ded61d871605d04820">PVT_Ctr::motor_pos_cur</a></div><div class="ttdeci">std::vector&lt; double &gt; motor_pos_cur</div><div class="ttdoc">all current motors position</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8h_source.html#l00026">PVT_ctrl.h:26</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html_a9043bcd372772fda34a4a3d8b6ff96ee"><div class="ttname"><a href="classPVT__Ctr.html#a9043bcd372772fda34a4a3d8b6ff96ee">PVT_Ctr::setJointPD</a></div><div class="ttdeci">void setJointPD(double kp, double kd, const char *jointName)</div><div class="ttdoc">Set the Joint P D gain.</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8cpp_source.html#l00062">PVT_ctrl.cpp:62</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html_ae17e60bb77cff1eee387ba7681f552d0"><div class="ttname"><a href="classPVT__Ctr.html#ae17e60bb77cff1eee387ba7681f552d0">PVT_Ctr::disablePV</a></div><div class="ttdeci">void disablePV()</div><div class="ttdoc">disable PV control item for all the joints</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8cpp_source.html#l00124">PVT_ctrl.cpp:124</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html_a9d77dccb170f7a4b1ecf173b91047ba4"><div class="ttname"><a href="classPVT__Ctr.html#a9d77dccb170f7a4b1ecf173b91047ba4">PVT_Ctr::motor_vel</a></div><div class="ttdeci">std::vector&lt; double &gt; motor_vel</div><div class="ttdoc">all current motors velocity</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8h_source.html#l00028">PVT_ctrl.h:28</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html_a29f1c739eec92db4f83ba0a1fdb53367"><div class="ttname"><a href="classPVT__Ctr.html#a29f1c739eec92db4f83ba0a1fdb53367">PVT_Ctr::enablePV</a></div><div class="ttdeci">void enablePV()</div><div class="ttdoc">enable PV control item for all the joints</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8cpp_source.html#l00115">PVT_ctrl.cpp:115</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html_ada55b04b5f69ea0e0a69d9fdb45fe853"><div class="ttname"><a href="classPVT__Ctr.html#ada55b04b5f69ea0e0a69d9fdb45fe853">PVT_Ctr::minPos</a></div><div class="ttdeci">std::vector&lt; double &gt; minPos</div><div class="ttdoc">min position limit of the motors</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8h_source.html#l00102">PVT_ctrl.h:102</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html_a596b859183cef9466234053260d05185"><div class="ttname"><a href="classPVT__Ctr.html#a596b859183cef9466234053260d05185">PVT_Ctr::dataBusRead</a></div><div class="ttdeci">void dataBusRead(DataBus &amp;busIn)</div><div class="ttdoc">read necessary data from databus</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8cpp_source.html#l00046">PVT_ctrl.cpp:46</a></div></div>
<div class="ttc" id="astructDataBus_html"><div class="ttname"><a href="structDataBus.html">DataBus</a></div><div class="ttdoc">The software model for data transporting.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00022">data_bus.h:22</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html_af96ebbc7d163601d831ca6fbdec2f8a1"><div class="ttname"><a href="classPVT__Ctr.html#af96ebbc7d163601d831ca6fbdec2f8a1">PVT_Ctr::motor_tor_out</a></div><div class="ttdeci">std::vector&lt; double &gt; motor_tor_out</div><div class="ttdoc">final tau output, the real desired torque exerted by the motor</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8h_source.html#l00029">PVT_ctrl.h:29</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html_acbd741b868f4b6c28b8968bee46ca65c"><div class="ttname"><a href="classPVT__Ctr.html#acbd741b868f4b6c28b8968bee46ca65c">PVT_Ctr::motor_tor_des</a></div><div class="ttdeci">std::vector&lt; double &gt; motor_tor_des</div><div class="ttdoc">all desired motors torque</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8h_source.html#l00095">PVT_ctrl.h:95</a></div></div>
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